Added movement helper functions

Robot2018/.gitignore

@@ -0,0 +1 @@
+/.metadata/

Robot2018/RemoteSystemsTempFiles/.project

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>RemoteSystemsTempFiles</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.rse.ui.remoteSystemsTempNature</nature>
+	</natures>
+</projectDescription>

Robot2018/.cproject → eclipse/.cproject

@@ -24,7 +24,7 @@
 							<option id="cdt.managedbuild.option.gnu.cross.prefix.541714056" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" value="arm-frc-linux-gnueabi-" valueType="string"/>
 							<option id="cdt.managedbuild.option.gnu.cross.path.1246856819" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" value="/usr/local/bin" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.targetPlatform.gnu.cross.864368257" isAbstract="false" osList="all" superClass="cdt.managedbuild.targetPlatform.gnu.cross"/>
-							<builder autoBuildTarget="all" buildPath="${workspace_loc:/Robot2018}/Debug" cleanBuildTarget="clean" id="org.eclipse.cdt.build.core.internal.builder.1308552451" incrementalBuildTarget="all" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="CDT Internal Builder" superClass="org.eclipse.cdt.build.core.internal.builder"/>
+							<builder autoBuildTarget="all" buildPath="${workspace_loc:/eclipse}/Debug" cleanBuildTarget="clean" id="org.eclipse.cdt.build.core.internal.builder.1308552451" incrementalBuildTarget="all" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="CDT Internal Builder" superClass="org.eclipse.cdt.build.core.internal.builder"/>
 							<tool id="cdt.managedbuild.tool.gnu.cross.c.compiler.1261239456" name="Cross GCC Compiler" superClass="cdt.managedbuild.tool.gnu.cross.c.compiler">
 								<option defaultValue="gnu.c.optimization.level.none" id="gnu.c.compiler.option.optimization.level.680635682" name="Optimization Level" superClass="gnu.c.compiler.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
 								<option id="gnu.c.compiler.option.debugging.level.143320011" name="Debug Level" superClass="gnu.c.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.c.debugging.level.max" valueType="enumerated"/>
@@ -39,7 +39,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${WPILIB}/user/cpp/include&quot;"/>
 								</option>
-								<option id="gnu.cpp.compiler.option.dialect.flags.1518551306" superClass="gnu.cpp.compiler.option.dialect.flags" value="-std=c++1y" valueType="string"/>
+								<option id="gnu.cpp.compiler.option.dialect.flags.1518551306" superClass="gnu.cpp.compiler.option.dialect.flags" useByScannerDiscovery="true" value="-std=c++1y" valueType="string"/>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1033680971" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.362679811" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
@@ -286,4 +286,5 @@
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
 	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
 </cproject>

eclipse/.gitignore

@@ -0,0 +1 @@
+/Debug/

Robot2018/.project → eclipse/.project

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>Robot2018</name>
+	<name>eclipse</name>
 	<comment></comment>
 	<projects>
 	</projects>

Robot2018/.settings/language.settings.xml → eclipse/.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-632134864929199017" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="537872359404229287" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="-97595266661" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="60160153867" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -27,7 +27,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="1397026044559007" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="-1171011726947217" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

Robot2018/src/Robot.cpp → eclipse/src/Robot.cpp

@@ -16,18 +16,14 @@
 #include <Joystick.h>
 #include <RobotDrive.h>
 #include <Servo.h>
+#include <Timer.h>
 #include <WPILib.h>
 
 class Robot : public frc::IterativeRobot {
 public:
-	RobotDrive *drive;
 	Joystick *stick;
-	SmartDashboard *dashboard;
-
-	Servo *armServo0;
-	Servo *armServo1;
-	Servo *armServo2;
-	Servo *armServo3;
+	RobotDrive *drive;
+	Timer *timer;
 	/*
 	 * This autonomous (along with the chooser code above) shows how to
 	 * select
@@ -43,7 +39,8 @@ class Robot : public frc::IterativeRobot {
 	 * well.
 	 */
 	void AutonomousInit() override {
-		drive = new RobotDrive(1, 2, 3, 4);
+		drive = new RobotDrive(0, 1, 2, 3);
+		drive->SetSafetyEnabled(false);
 
 		m_autoSelected = m_chooser.GetSelected();
 		// m_autoSelected = SmartDashboard::GetString(
@@ -53,34 +50,35 @@ class Robot : public frc::IterativeRobot {
 		if (m_autoSelected == kAutoNameCustom) {
 			// Custom Auto goes here
 		} else {
-			// Default Auto goes here
+			MoveForTime(3.0, 1, 0, 0.25);
+			Wait(2);
+			MoveForTime(3.0, -1, 0, 0.25);
 		}
 	}
 
 	void AutonomousPeriodic() {
 		if (m_autoSelected == kAutoNameCustom) {
 			// Custom Auto goes here
 		} else {
-			drive->Drive(1.0, 0.0);
+			// Default Auto goes here
 		}
 	}
 
 	void TeleopInit() {
-		stick = new Joystick(5);
-		drive = new RobotDrive(1, 2, 3, 4);
+		stick = new Joystick(0);
+		drive->SetSafetyEnabled(false);
 	}
 
 	void TeleopPeriodic() {
 		while (IsOperatorControl() && IsEnabled()) {
-			drive->Drive(0.25, 0.0);
-			//drive->ArcadeDrive(stick);
-			//dashboard->PutNumber("test", 5.0);
+			drive->ArcadeDrive(stick);
 			Wait(0.01);
 		}
 	}
 
 	void TestPeriodic() {
-		drive->Drive(0.25, 0.0);
+		drive->Drive(0.1, 0.0);
+		Wait(0.01);
 	}
 
 private:
@@ -90,18 +88,32 @@ class Robot : public frc::IterativeRobot {
 	const std::string kAutoNameCustom = "My Auto";
 	std::string m_autoSelected;
 
-	void lowArmPosition() {
-		armServo0->SetAngle(0.0);
-		armServo1->SetAngle(180.0);
-		armServo2->SetAngle(0.0);
-		armServo3->SetAngle(330);
+	// (float) distance - Distance forward or backwards, in feet
+	// (float) rotation - Rotation right or left, in degrees
+	// (float) speed - The speed in which to move (0.0 to 1.0)
+	void MoveDistance(float distance, float rotation, float speed) {
+		// TO FINISH
 	}
 
-	void highArmPosition() {
-		armServo0->SetAngle(90.0);
-		armServo1->SetAngle(90.0);
-		armServo2->SetAngle(90.0);
-		armServo3->SetAngle(0);
+	// (float) time - Time to move
+	// (integer) move - Weather to move forwards (1), backwards (-1) or stay still (0)
+	// (integer) rotate - Weather to rotate right (1), left (-1) or stay still (0)
+	// (float) speed - The speed in which to move (0.0 to 1.0)
+	void MoveForTime(float time, int move, int rotate, float speed) {
+		timer = new Timer();
+		float moveSpeed = 0.0;
+		float rotateSpeed = 0.0;
+
+		if (move == 1) { moveSpeed = speed; }
+		else if (move == -1) { moveSpeed = -speed; }
+
+		if (rotate == 1) { rotateSpeed = speed; }
+		else if (rotate == -1) { rotateSpeed = -speed; }
+
+		while(timer->Get() < time) {
+			drive->Drive(moveSpeed, rotateSpeed);
+			Wait(0.01);
+		}
 	}
 };